KR20230091412A - Floor drawing robot with high precision - Google Patents

Abstract

The present invention provides a main body, a driving part for moving the main body, a drawing means provided in the main body for drawing on the floor, a storage unit for storing design data in a drawing area, and recognizing the current position, and the drawing data According to the present invention, a floor drawing robot having high precision including a controller for controlling drawing on the floor surface using the drawing means is provided.

Description

Floor drawing robot with high precision {FLOOR DRAWING ROBOT WITH HIGH PRECISION}

The present invention relates to a robot, and more particularly, to a floor drawing robot with high precision capable of drawing a floor very precisely.

Various types of equipment are required in factories or laboratories, and installation of large equipment is often required. Various wires must be connected to such large equipment, but usually the wires can be provided on the floor without being exposed to the outside.

To this end, as shown in FIG. 1, in order to form a floor 1 of a factory or laboratory, a plurality of floor plates 1' may be provided adjacent to each other at the same height. The bottom plate 1' is supported upward by a plurality of support legs S1 to S3, and a predetermined space may be formed under the spaced bottom plate 1'.

In this way, various wires are provided in a predetermined space formed under the bottom plate 1', and these wires are connected to equipment installed on the floor 1 through a connection hole (not shown) perforated in the bottom plate 1'. can

Therefore, before various equipments are installed, a design representing the connection hole should be displayed on the floor 1 in order to prepare a pre-perforated connection hole.

2 is a layout view of equipment installed in a factory. As shown in FIG. 2, there may be a site where various equipment is installed on the floor 1 of the factory (Eq. #1 to Eq. #12 in FIG. 2).

Conventionally, in order to perforate the connection hole at the site, a worker places a large design on which the connection hole is displayed on the floor 1, draws the design individually with a pen by hand, and then punches the hole in the corresponding position. .

In this way, when a worker manually draws a picture, there is a problem that a connector design of an inaccurate size may be drawn at an inaccurate location, and there is a problem of having to separately prepare a large design for each equipment.

Therefore, there is a demand for a necessary technology capable of solving these problems.

JP 2019-196988 A JP 2017-015523 A

The present invention is intended to provide a floor drawing robot with high precision that can automatically draw a picture according to a drawing precisely on the floor.

In order to solve the above problems, the present invention provides a main body, a driving part for moving the main body, a drawing means for drawing on the floor surface provided in the main body, a storage unit for storing drawing data in the drawing area, and a current position It provides a floor drawing robot with high precision including a control unit that recognizes and controls drawing on the floor surface using the drawing means according to the design data.

According to one embodiment, the drawing means may be a spraying device for drawing by spraying ink or a pen for drawing in contact with the bottom surface.

According to one embodiment, the drawing unit may be located at the center of the main body.

According to an embodiment, a plurality of pieces are provided in the main body, and further include a lidar for detecting a forward object using laser light, wherein the control unit travels along a movement path in the drawing area, The current position may be recognized using the LIDAR, and drawing may be performed on the floor using the drawing means according to the design data.

According to an embodiment, the control unit may detect a reflector provided at at least one predetermined reference point in the drawing area using the LIDAR and recognize a current location using the reflector.

According to an embodiment, a plurality of lidars are provided along the outer circumferential surface of the main body, and the control unit can recognize the current location using a band-shaped reflector provided along the edge of the drawing area. .

According to an embodiment, the control unit calculates the shortest distance to some of the reflectors provided along one side of the drawing area, and the shortest distance to another part of the reflectors provided along the other side of the drawing area. By calculating , the current location can be recognized.

According to one embodiment, the control unit, while the main body travels back and forth along the vertical direction within the drawing area, while moving by a small distance along the horizontal direction in the meantime, uses the drawing means according to the drawing data It is possible to control drawing on the bottom surface.

According to an embodiment, the control unit may set the smile distance differently according to the size of a figure drawn by the drawing unit at the current location.

According to one embodiment of the present invention, it is possible to automatically draw a picture according to a precise drawing on the floor.

1 is a view showing an access floor, which is an example of a floor on which a floor drawing robot moves according to an embodiment of the present invention.
2 is a layout view of equipment installed in a factory.
3 is an exemplary external view of a floor drawing robot according to an embodiment of the present invention.
4 is a configuration diagram of a floor drawing robot according to an embodiment of the present invention.
5 is an exemplary view of design data within a drawing area according to an embodiment of the present invention.
6A is an exemplary view of a reflector according to an embodiment of the present invention.
6B is a diagram for explaining a process of positioning a current position of a floor drawing robot using a reflector according to an embodiment of the present invention.
7 is a view showing the bottom of the floor drawing robot according to an embodiment of the present invention.
8A is an exemplary view of a first movement path along which a floor drawing robot travels within a drawing area according to an embodiment of the present invention.
8B is an exemplary view of a second movement path along which a floor drawing robot travels within a drawing area according to an embodiment of the present invention.

Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings, but the same or similar elements are given the same reference numerals regardless of reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "unit" for components used in the following description are given or used together in consideration of ease of writing the specification, and do not have meanings or roles that are distinct from each other by themselves. In addition, in describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the embodiment disclosed in this specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, the technical idea disclosed in this specification is not limited by the accompanying drawings, and all changes included in the spirit and technical scope of the present invention , it should be understood to include equivalents or substitutes.

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

In this specification, terms such as "comprise" or "having" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

3 is an external view of a floor drawing robot according to an embodiment of the present invention, and FIG. 4 is a configuration diagram of a floor drawing robot according to an embodiment of the present invention.

As shown in FIGS. 3 and 4, the floor drawing robot 10 according to an embodiment of the present invention includes a main body, a traveling part 120 for moving the main body, and drawing data in the drawing area 20 A storage unit 130 for storing (d1 to d5), a drawing means 160 provided in the main body for drawing on the floor 1, recognizing the current position, and drawing data (d1 to d5) ) may include a control unit 110 for controlling drawing on the bottom 1 surface using the drawing means 160 according to ).

In this way, the floor drawing robot 10 according to an embodiment of the present invention measures the current position and uses the drawing means 160 to draw design data d1 to d5 within the drawing area 20 of the floor 1. Because the drawing follows, you can draw a precise design on the floor.

However, since the components shown in FIGS. 3 and 4 are not essential, it goes without saying that a floor drawing robot having more or fewer components can be implemented.

Hereinafter, each component will be reviewed.

The body of the floor drawing robot 10 according to an embodiment of the present invention is not particularly limited in its shape, but as shown in FIG. 3, it is preferably a low-height cylindrical or disk-shaped body.

That is, a plurality of lidars 141 may be provided on the outer circumferential surface of the side or side of the main body of the floor drawing robot 10 according to an embodiment of the present invention, and in this case, the plurality of lidars 141 are It is preferable to be arranged at predetermined intervals along the outer circumferential surface of the floor drawing robot 10 to sense or recognize an object as a sensed object in all directions (360°) around the body of the floor drawing robot 10.

The lidar 141 according to an embodiment of the present invention may be a 2D lidar, and a plurality of 2D lidars may be provided to face the 360° direction with respect to the position of the main body.

The driving unit 120 may include a driving device including at least one wheel for moving the main body of the floor drawing robot 10 and a motor for rotationally driving the wheel.

The driving unit 120 may further include a steering device for setting the driving direction in the front, rear, left and right directions. However, if the steering device is not included, the driving unit 120 rotates the wheels provided on the left and right sides without a steering device. The driving direction of the main body may be changed to the left or right by varying the speed, or the main body may be rotated.

Although not shown in the drawings, the floor drawing robot 10 according to an embodiment of the present invention may further include a battery for supplying power necessary for overall operation, and the battery is preferably a rechargeable secondary battery.

The storage unit 130 may store a control program for controlling or driving the floor drawing robot 10 and corresponding data. Specifically, the storage unit 130 may store design data d1 to d5 within the drawing area 20, and the storage unit 130 may store a driving method and the like.

The storage unit 130 may mainly use a non-volatile memory. Here, a non-volatile memory (NVM, NVRAM) is a storage device capable of continuously maintaining stored information even when power is not supplied. For example, It may be a ROM, a flash memory, a magnetic computer storage device (eg, hard disk, diskette drive, magnetic tape), an optical disk drive, magnetic RAM, PRAM, and the like.

The controller 110 is a means for controlling the overall operation of the floor drawing robot 10, and can execute various application programs in conjunction with each component of the floor drawing robot 10 and perform operations related thereto. . That is, the control unit 110 controls the driving of the floor drawing robot 10 by processing signals or data input and output through the components of the floor drawing robot 10 or by driving an application program stored in the storage unit 130. can do. In addition, the controller 110 may control at least some of the components of the floor drawing robot 10 in order to drive an application program stored in the storage unit 130 .

The controller 110 according to an embodiment of the present invention positions the current location, and uses the current location to draw the floor 1 with the drawing means 160 according to the drawing data d1 to d5 stored in the storage unit 130. You can draw on the surface.

The controller 110 may use various methods to position the current position, but according to an embodiment of the present invention, the current position may be located using the lidar 141 and a reflector. A detailed description of this will be described later.

5 is an exemplary view of design data within a drawing area according to an embodiment of the present invention.

As shown in FIG. 5 , the floor drawing robot 10 according to an embodiment of the present invention can draw on the floor 1 according to design data d1 to d5 using the drawing means 160 .

That is, unlike the prior art, instead of laying a large piece of paper on which a design is drawn on the floor 1, a design can be drawn on the floor 1 according to the design data (d1 to d5), and depending on the purpose of the design, a worker when necessary may be perforated along the pattern drawn on the floor (1).

The drawing area 20 is an area where designs are drawn according to the design data d1 to d5 on the surface of the floor 1, and the floor drawing robot 10 travels on the boundary of the drawing area 20 or inside it, (1) can be drawn. That is, the floor drawing robot 10 can draw according to the design data d1 to d5 within the area bordered by the edge of the drawing area 20 . The design data (d1 to d5) may indicate information on the design provided in the drawing area 20 of the floor 1, and the shape of the design data (d1 to d5) and the drawing area 20 may vary, However, the present invention is not particularly limited to its form.

The floor drawing robot 10 according to an embodiment of the present invention may include a drawing means 160 to draw a pattern on the floor 1 .

The drawing means 160 may be provided on the bottom surface of the main body of the floor drawing robot 10 toward the floor 1, and in order for the drawing means 160 to draw on the floor 1, in one embodiment of the present invention According to the drawing means 160 may be a jetting device for drawing by jetting ink or the like.

As shown in FIG. 7 , the jetting device provided on the bottom of the main body of the floor drawing robot 10 may jet ink toward the floor 1 .

The injection device according to an embodiment of the present invention is not particularly limited as long as it is capable of drawing on the floor 1 by injecting ink, but a nozzle orifice through which ink is ejected according to a control command generated from the control unit 110 ( (not shown) is preferably capable of selectively ejecting and non-injecting ink by selectively opening and closing, and more preferably, the size or aperture of the nozzle orifice can be adjusted according to the control command of the control unit 110 if necessary. , it is desirable that the size or shape of the ink jetting surface be adjustable.

Meanwhile, the drawing means 160 according to another embodiment of the present invention may be a pen capable of drawing in contact with the floor 1 rather than a spraying device.

It is preferable that the pen is directly or indirectly coupled to the lower surface of the main body of the floor drawing robot 10 and draws with the pen tip in contact with the floor 1 as the main body of the floor drawing robot 10 travels.

At this time, the pen can also be attached to and detached from the bottom of the main body of the floor drawing robot 10, but it is preferable to selectively draw with the pen by moving up and down according to the control command generated by the controller 110. do.

The position of the drawing means according to an embodiment of the present invention is not particularly limited, but as shown in FIG. 7, it is preferable to be located in the center of the main body of the floor drawing robot 10. This is because, in general, when positioning the current position of the floor drawing robot 10, the center of the main body is used as a reference.

On the other hand, as described above, the controller 110 of the floor drawing robot 10 according to an embodiment of the present invention is an image captured by at least one camera (not shown) provided in the body in order to position the current position. Although the current position of the floor drawing robot 10 can be recognized using the data, signals output from the posture sensor 142, encoder 143, lidar 141, etc. Data can be combined.

That is, the type of sensor unit 140 is not particularly limited as long as it is for collecting information or data necessary for measuring the current position of the moving floor drawing robot 10, but as a specific example, lidar 141, posture Any one of the sensor 142 and the wheel sensor 143 or a combination thereof may be used.

The lidar 141 is a means for detecting a forward object using laser light, and detects a reflected light signal by irradiating light to measure a distance and direction, thereby detecting a forward object. can detect

The controller 110 may measure the distance and direction to the front reflector 200 detected by the plurality of lidars 141 provided in the main body, and calculate the current position using this.

Specifically, as shown in FIG. 5, the controller 110 measures the distance and direction from the main body, specifically from the lidar 141, to the reflectors provided at the first and second reference points 2 and 3, The current position of the floor drawing robot 10 may be calculated using a triangulation method or the like.

The first and second reference points 2 and 3 are absolute positions, preferably on the boundary of the drawing area 20 or located outside adjacent to the boundary.

A reflector 33 may be provided at the first and second reference points 2 and 3. Here, the reflector 33 is sufficient as long as it is detectable by the lidar 141, and the subject of the lidar 141 It is an object that is easy to distinguish from others because of its relatively high reflectance, and it is preferable that it can be identified by the LIDAR 141 at various angles.

Alternatively, according to another embodiment of the present invention, at least one reflector 33 supported by at least one supporter 31, 32 may be provided along the edge of the drawing area 20, and the control unit (110) calculates the shortest distance for some of the reflectors 33 provided along one side of the drawing area 20, and for another part of the reflectors 33 provided along the other side of the drawing area 20. By calculating the shortest distance, the current location can be recognized.

Specifically, in the substantially rectangular drawing area 20, as shown in FIG. It is preferable to be disposed at a height corresponding to the height of the lidar 141.

At this time, the band-shaped reflector 33 can preferably be automatically wound with elasticity by a coil spring, etc., and the band-shaped reflector 33 automatically wound in this way is easy to transport and can be used in various drawing areas 20. The operator can easily prepare the area.

The floor drawing robot 10 located in the drawing area 20 formed by the band-shaped reflector 33 recognizes the drawing area 20 formed by the reflector 33 by identifying the reflector 33, and recognizes the recognized The drawing area 20 may be saved (or created).

Thereafter, the controller 110 calculates the shortest distance between the floor drawing robot 10 and some of the reflectors 33a to 33d provided in all directions, so that the floor drawing robot 10 in the drawing area 20 is currently position can be accurately calculated.

For example, as shown in FIG. 6B, the main body of the floor drawing robot 10 located within the drawing area 20 can identify reflectors 33a to 33d located around it and recognize the drawing area 20. In the drawing area 20 created in this way, the control unit 110 measures the shortest distances (P1, P3, P5, P7) with each side of the identified reflectors 33a to 33d, and then calculates the measured distance. Any one point in the drawing area 20 derived using the drawing area 20 can be set as the current position of the floor drawing robot 10 .

That is, the control unit 110 according to an embodiment of the present invention may position the absolute current position within the drawing area 20 using the LIDAR 141 .

Meanwhile, the sensor unit 140 according to an embodiment of the present invention may further include a posture sensor 142 and a wheel sensor 143 in addition to the lidar 141, and the controller 110 may include the posture sensor 142 ) and/or the wheel sensor 143, the current location may be determined.

Among the sensor unit 140, the posture sensor 142 (or inertia measurement unit (IMU)) is a means for detecting the posture or inertia of the floor drawing robot 10, and includes an acceleration sensor and a gyro sensor. (gyro sensor) may be made of any one or a combination thereof. The control unit 110 can calculate the movement distance and direction using this, and can determine the current location by applying the relative movement distance and direction based on the pre-recognized or set initial location.

The acceleration sensor may detect a change in moving speed of the floor drawing robot 10, and for example, the acceleration sensor may be attached to a position adjacent to a wheel to detect slippage or idling of the wheel. That is, the speed is calculated using the acceleration detected through the acceleration sensor, and compared with the command speed, sliding of the floor drawing robot 10 on the floor can be sensed according to the difference.

The gyro sensor may detect a rotation direction and/or rotation angle when the floor drawing robot 10 travels. The gyro sensor can detect the angular velocity of the floor drawing robot 10 and output a voltage value proportional to the angular velocity, and the controller 110 calculates the rotation direction and/or rotation angle of the floor drawing robot 10 using this. can do.

In addition, among the sensor units 140, a wheel sensor 143 may be connected to a wheel to detect the number of revolutions of the wheel. The wheel sensor may be, for example, an encoder (or rotary encoder), and the encoder may detect and output the number of rotations of at least one wheel when the floor drawing robot 10 is running.

The controller 110 may calculate the rotational speed and the moving speed of the floor drawing robot 10 using the rotational speed of the wheel detected by the wheel sensor 143 . In addition, the control unit 110 may compare the movement speed calculated using the wheel sensor 143 and the command speed, and may detect sliding of the floor drawing robot 10 on the floor according to the difference.

However, since the relative position from the initial position is calculated using the information output by the posture sensor 142 and/or the wheel sensor 143, the position of the body may change due to an external force or slip depending on the condition of the floor. There is a problem that an error may occur in the current positioning value in the case of such occurrence.

Therefore, according to an embodiment of the present invention, the control unit 110 may position the current position with at least one selected from among the lidar 141, the posture sensor 142, and the wheel sensor 143, or a combination thereof. .

The present invention is not particularly limited, but as a specific example, after measuring the current position for the first time using the lidar 141 and the reflector 33 before drawing, the attitude sensor 142 and the wheel sensor 143 are used. It is possible to position the current position by continuing to do so, and the cumulative error resulting from this can be corrected using the LIDAR 141 and the reflector 33.

Meanwhile, as described above, the floor drawing robot 10 according to an embodiment of the present invention may draw a pattern on the floor 1 according to the pattern data d1 to d5 in the drawing area 20, and at this time, the floor The drawing robot 10 may move to a corresponding position according to the pre-stored design data d1 to d5 and then draw a design using the drawing means 160 .

However, the present invention is not limited to this, and according to a preferred embodiment, the control unit 110 travels along a preset movement path within the drawing area 20, and the current position is drawn according to the design data d1 to d5. If it corresponds to the required position, it is possible to draw in the form of a dot on the floor 1 at the current position using the drawing means 160 .

That is, the floor drawing robot 10 draws on the floor 1 in the form of a plurality of dots, so that a pattern in the form of a line or plane can be drawn on the floor 1 by a set of dots.

Here, the preset movement path for the floor drawing robot 10 to travel within the drawing area 20 is between a path reciprocating in one direction, for example, a vertical direction, and a path reciprocating in another direction, one For example, a path moving by a small distance along the horizontal direction may be included.

That is, as a specific example, the floor drawing robot 10 traveling along the preset movement path has the first movement path R1 shown in FIG. 8A, thereby repeating reciprocating travel along the vertical direction, It can move in the horizontal direction by a small distance of d1 between them. That is, while driving so that the floor drawing robot 10 repeatedly crosses the drawing area 20, if the current position corresponds to the position where drawing is requested according to the drawing data d1 to d5, the drawing means 160 is drawn. Drawing can be performed on the floor 1 using the drawing shown in FIG. 5 .

However, at this time, the floor drawing robot 10 according to a preferred embodiment has a blank area 21 in which no design exists in the drawing area 20, that is, an area 21 without a pattern according to the design data d1 to d5. ), the floor drawing robot 10 is not allowed to run on the floor 1, so that the drawing can be made quickly.

Specifically, the controller 110 may search for the blank area 21 within the drawing area 20, and after calculating the location and width of the searched blank area 21, the floor drawing robot 10 moves in the vertical direction. When reaching the empty area 21 while repeating the reciprocating travel along the vertical direction, it does not move as much as a small distance in the horizontal direction, but moves as much as the width R21 of the empty area 21, and then repeats the reciprocating traveling along the vertical direction again. can do.

Meanwhile, as described above, the control unit 110 according to an embodiment of the present invention may move in another direction by a small distance during reciprocating travel to cross the drawing area 20 .

At this time, it is preferable that the control unit 110 differently sets the smile distance according to the size of a figure, for example, a point drawn by the drawing means 160 at the current location. That is, as an example, the control unit 110 may likewise lengthen the smile distance as the size of the dot drawn by the drawing means 160 at the current position increases, and conversely, the size of the dot drawn by the drawing means 160 increases. The smaller the distance, the narrower the smile distance can be likewise.

For example, when the size of the dot drawn by the drawing means 160 at the current position becomes relatively small, the second movement path R2 shown in FIG. 8B is the first movement path R1 shown in FIG. 8A. When the smile distance d2 can be made narrower and the size of the point drawn by the drawing means 160 at the current position becomes relatively larger, the first movement path R1 shown in FIG. 8A is similar to that shown in FIG. 8B. The smile distance d1 may be wider than that of the second movement path R2 shown in .

After all, the control unit 110 according to an embodiment of the present invention differently sets the small distance among the moving paths according to the size or diameter of the nozzle of the spraying device, which is the drawing means 160, or, according to another aspect of the present invention, According to an embodiment, when the pen as the drawing means 160 is mounted, the type of the mounted pen may be detected, and the smile distance may be set differently in the movement path according to the type of the detected pen or the size of the pen tip.

The present invention is not particularly limited, but according to a preferred embodiment, when the pen is mounted as the drawing means 160, the outer surface of the pen mounted on the pen mounting hole (not shown) formed on the main body of the floor drawing robot 10. A terminal capable of identifying the type of pen may be provided, and the control unit 110 recognizes the type of the pen by identifying the terminal contacting the inner surface of the pen mount, and determines the smile distance accordingly. can be set

In the above, preferred embodiments of the present invention have been described in detail with reference to the drawings. The description of the present invention is for illustrative purposes, and those skilled in the art will understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention.

Therefore, the scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning, scope and equivalent concept of the claims are included in the scope of the present invention. should be interpreted

1: floor 10: floor drawing robot
20: drawing area 31, 32: support
33, 33a ~ 33d: reflector 110: control unit
120: driving unit 130: storage unit
140: sensor unit 141: lidar
142: posture sensor 143: wheel sensor
160: drawing means

Claims (9)

main body;
a driving unit for moving the main body;
a drawing means provided on the main body for drawing on the bottom surface;
a storage unit for storing design data within the drawing area; and
a control unit recognizing a current position and controlling drawing on the floor using the drawing means according to the drawing data;
A floor drawing robot with high precision. According to claim 1,
The drawing means,
A floor drawing robot with high precision, characterized in that it is a spraying device for drawing by spraying ink or a pen for drawing in contact with the floor. According to claim 2,
The drawing means is a floor drawing robot with high precision, characterized in that located in the center of the main body. According to claim 1,
A plurality of lidars provided in the main body and detecting a front object using laser light;
Including more,
The control unit travels along the movement path within the drawing area, recognizes the current position using the lidar, and controls the floor surface to be drawn using the drawing means according to the design data. floor drawing robot with high precision. According to claim 4,
The control unit,
A floor drawing robot with high precision, characterized in that by using the lidar, a reflector provided at at least one reference point set in the drawing area is detected, and a current position is recognized using the reflector. According to claim 4,
The lidar is provided with a plurality along the outer circumferential surface of the main body,
The controller has a high precision floor drawing robot, characterized in that for recognizing the current position using a band-shaped reflector provided to wrap along the edge of the drawing area. According to claim 6,
The control unit calculates the shortest distance to some of the reflectors provided along one side of the drawing area, and calculates the shortest distance to another portion of the reflectors provided along the other side of the drawing area, to determine the current position. Floor drawing robot with high precision, characterized in that for recognizing. According to claim 1,
The control unit,
Controlling the main body to reciprocate along the vertical direction within the drawing area, while moving by a small distance along the horizontal direction in the meantime, drawing on the floor surface using the drawing means according to the design data Floor drawing robot with high precision. According to claim 8,
The control unit,
A floor drawing robot with high precision, characterized in that the smile distance is set differently according to the size of the figure drawn by the drawing means at the current position.

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